相关论文: Technical report on Optimization-Based Bearing-Onl…

This paper addresses the problem of navigation using only relative direction measurements (i.e., relative distances are unknown) under field of view constraints. We present a novel navigation vector field for the bearing-based visual homing…

We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback…

This paper presents novel algorithms for the Fermat-Weber Location Problem, guiding an autonomous agent to the point that minimizes the weighted sum of Euclidean distances to some beacons using only bearing measurements. The existing…

We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…

We address the problems of bearing-only consensus and formation control, where each agent can only measure the relative bearings of its neighbors and relative distances are not available. We provide stability results for the Filippov…

This work aims to design an optimization-based controller for a discrete-time Dubins vehicle to approach a target with unknown position as fast as possible by only using bearing measurements. To this end, we propose a bi-objective…

Vision-based estimation of the motion of a moving target is usually formulated as a bearing-only estimation problem where the visual measurement is modeled as a bearing vector. Although the bearing-only approach has been studied for…

The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…

This paper presents a solution to the rendezvous control problem for a network of kinematic unicycles in the plane, each equipped with an onboard camera measuring its relative displacement with respect to its neighbors in body frame…

In this paper, we propose a framework for designing sliding mode controllers for a class of mechanical systems with symmetry, both unconstrained and constrained, that evolve on principal fiber bundles. Control laws are developed based on…

This paper studies distributed formation control of multiple agents in the plane using bearing-only measurements. It is assumed that each agent only measures the local bearings of their neighbor agents. The target formation considered in…

We study the problem of robust global stabilization in control-affine systems, focusing on dynamic uncertainties in the control directions \emph{and} the presence of topological obstructions that prevent the existence of smooth global…

This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…

This paper addresses bearing-only algorithms for solving the Fermat-Weber Location Problem (FWLP) with a unicycle agent. Unlike existing FWLP solutions for single- or double-integrator agents, our approach accounts for the nonholonomic…

This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…

Visual homing is a lightweight approach to visual navigation. Given the stored information of an initial 'home' location, the navigation task back to this location is achieved from any other location by comparing the stored home information…

This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We…

Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…

The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance…

This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…